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Don't forget to add 'depends': [web_map], in manifest

To do this, first we have to create a model.

from odoo import models , fields

class Book(models.Model):

    _name = 'odoo.book'

    _inherit = ['mail.thread', 'mail.activity.mixin']

    display_name = fields.Char(string='Name', required=True)

    author = fields.Many2one('res.partner', 'Author', required=True)

    sl_no = fields.Char('Sl No', required=True)

Now we can arrange the corresponding model's view and map view.

So first we can create an action for the model.

<?xml version="1.0" encoding="utf-8"?>

<odoo>

    <record id="odoo_book_action" model="ir.actions.act_window">

        <field name="name">Book</field>

        <field name="type">ir.actions.act_window</field>

        <field name="res_model">odoo.book</field>

        <field name="view_mode">tree,form</field>

    </record>

Now we can set the map view.

<record id="odoo_book_map" model="ir.ui.view">

        <field name="name">odoo.book</field>

        <field name="model">odoo.book</field>

        <field name="arch" type="xml">

            <map res_partner="author">

            </map>

        </field>

    </record>

<record id="odoo_book_action_map" model="ir.actions.act_window.view">

        <field name="sequence" eval="3"/>

        <field name="view_mode">map</field>

        <field name="view_id" ref="odoo_book_map"/>

        <field name="act_window_id" ref="odoo_book_action"/>

    </record>

After creating a record in this model, we can see the map view.